Leader-following consensus of multi-agent systems under fixed and switching topologies |
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Authors: | Wei Ni Daizhan Cheng |
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Affiliation: | Key Laboratory of Systems and Control, Institute of Systems Science, Chinese Academy of Sciences, Beijing 100190, PR China |
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Abstract: | The leader-following consensus problem of higher order multi-agent systems is considered. In the system, the dynamics of each agent and the leader is a linear system. The control of each agent using local information is designed and detailed analysis of the leader-following consensus is presented for both fixed and switching interaction topologies, which describe the information exchange between the multi-agent systems. The design technique is based on algebraic graph theory, Riccati inequality and Lyapunov inequality. Simulations indicate the capabilities of the algorithms. |
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